The dividing line is a thin one, but while Henson Co. was involved, they weren't actually muppets.
But a foul-mouthed, arrogant, elitest, greedy, egotistical, self-centered Henson Creature makes for one of the best characters ever created. He's telling you to frell off, and he's a puppet!
Also, there's a BIG difference between Star Trek vs it's sequels, and BSG vs the remake. One is continuing the orignal story, the other is rewriting it. The former is what BSG fans WANTED. The latter is what they got.